CA2156841A1 - Servodirection - Google Patents

Servodirection

Info

Publication number
CA2156841A1
CA2156841A1 CA002156841A CA2156841A CA2156841A1 CA 2156841 A1 CA2156841 A1 CA 2156841A1 CA 002156841 A CA002156841 A CA 002156841A CA 2156841 A CA2156841 A CA 2156841A CA 2156841 A1 CA2156841 A1 CA 2156841A1
Authority
CA
Canada
Prior art keywords
servo
wheel
power steering
steering system
motors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002156841A
Other languages
English (en)
Other versions
CA2156841C (fr
Inventor
Julien Simard
Pierre Couture
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dana TM4 Inc
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of CA2156841A1 publication Critical patent/CA2156841A1/fr
Application granted granted Critical
Publication of CA2156841C publication Critical patent/CA2156841C/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

Une servodirection utilisée dans un véhicule terrestre dont les roues directionnelles (30) sont motrices de façon indépendante. Un asservissement est produit en créant un couple différentiel à l'aide des moteurs (40). L'asservissement est fourni lorsqu'un couple est appliqué au volant (10), en générant le couple différentiel par les moteurs (40) de façon à créer des forces d'asservissement cause de bras de levier virtuel (39) définis entre le centre de traction (34) de chaque roue (30) et l'intersection imaginaire avec le sol d'une prolongation virtuelle de l'axe d'orientation (32) de la roue (30).
CA002156841A 1993-03-01 1994-03-01 Servodirection Expired - Fee Related CA2156841C (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US08/025,419 US5323866A (en) 1993-03-01 1993-03-01 Power steering system
US025,419 1993-03-01
PCT/CA1994/000110 WO1994020353A2 (fr) 1993-03-01 1994-03-01 Servodirection

Publications (2)

Publication Number Publication Date
CA2156841A1 true CA2156841A1 (fr) 1994-09-15
CA2156841C CA2156841C (fr) 2004-05-25

Family

ID=21825945

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002156841A Expired - Fee Related CA2156841C (fr) 1993-03-01 1994-03-01 Servodirection

Country Status (14)

Country Link
US (1) US5323866A (fr)
EP (1) EP0686111B1 (fr)
JP (1) JP3411922B2 (fr)
KR (1) KR100303588B1 (fr)
CN (1) CN1065490C (fr)
AT (1) ATE165057T1 (fr)
AU (1) AU676275B2 (fr)
BR (1) BR9406446A (fr)
CA (1) CA2156841C (fr)
DE (1) DE69409637T2 (fr)
NZ (1) NZ262077A (fr)
TR (1) TR28435A (fr)
TW (1) TW253876B (fr)
WO (1) WO1994020353A2 (fr)

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* Cited by examiner, † Cited by third party
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DE4134240C2 (de) * 1991-10-16 1995-12-14 Mannesmann Ag Lenkungsunterstützung bei einem nicht-spurgebundenen Fahrzeug
DE19632251B4 (de) * 1996-08-09 2004-08-26 Volkswagen Ag Vorrichtung und Verfahren zur Lenkung eines Kraftfahrzeuges
US6039133A (en) * 1997-11-17 2000-03-21 Zulu; Joshua Steering control system for an articulating work machine having a steering fluid cylinder and a fluid-powered differential
DE19833189A1 (de) * 1998-07-23 2000-01-27 Bayerische Motoren Werke Ag Lenksystem für ein Fahrzeug
GB2345895B (en) * 1999-01-22 2002-12-18 Rover Group A vehicle
JP3487223B2 (ja) 1999-07-07 2004-01-13 株式会社豊田自動織機 パワーステアリングシステム
GB9921993D0 (en) * 1999-09-17 1999-11-17 Delphi Tech Inc Self-locking drag link for steer-by-wire system
JP2001354154A (ja) * 2000-04-13 2001-12-25 Honda Motor Co Ltd 後輪転舵装置
US6423629B1 (en) * 2000-05-31 2002-07-23 Kie Y. Ahn Multilevel copper interconnects with low-k dielectrics and air gaps
KR20020017158A (ko) * 2000-08-29 2002-03-07 밍 루 차량용 조향 시스템
US6622813B2 (en) 2001-07-26 2003-09-23 Delphi Technologies, Inc. Hybrid steer-by-wire with mechanical link
KR100503334B1 (ko) * 2002-08-12 2005-07-25 현대모비스 주식회사 차량용 조향장치
JP2004345592A (ja) * 2003-05-26 2004-12-09 Nissan Motor Co Ltd 車両の操舵装置
JP4349092B2 (ja) * 2003-11-12 2009-10-21 トヨタ自動車株式会社 車両のパワーステアリング制御装置
DE102004004678B4 (de) * 2004-01-29 2005-12-29 Otto Bock Healthcare Gmbh Drehmomentsensor
GB2435023B8 (en) * 2004-03-18 2008-10-22 Ford Global Tech Llc Parking assistance using diffrential torque steering
DE102004013897B4 (de) * 2004-03-22 2009-04-16 Noell Mobile Systems & Cranes Gmbh Portalhubstapler mit elektrischer Lenkung
JP4604566B2 (ja) * 2004-06-17 2011-01-05 日産自動車株式会社 車両用操舵装置
US20060113136A1 (en) * 2004-11-30 2006-06-01 Coot2 Inc. Off road vehicle apparatus and method
JP4556643B2 (ja) * 2004-12-01 2010-10-06 トヨタ自動車株式会社 車両の制駆動力制御装置
JP4812409B2 (ja) * 2005-11-16 2011-11-09 日立オートモティブシステムズ株式会社 パワーステアリング装置
GB2437503A (en) * 2006-04-24 2007-10-31 Advanced Transp Systems Ltd Steering arrangement using differing drive torques
GB2448471A (en) * 2007-04-20 2008-10-22 Advanced Transp Systems Ltd Vehicle with backup mode for four wheel steering
DE102007043599A1 (de) * 2007-09-13 2009-03-19 Robert Bosch Gmbh Verfahren zur Durchführung eines Lenkvorganges in einem Fahrzeug
US20140299392A9 (en) * 2007-10-26 2014-10-09 Frederick William Klatt Brushless Multiphase Self-Commutation Control (BMSCC) And Related Inventions
JP2009225537A (ja) * 2008-03-14 2009-10-01 Autech Japan Inc 駆動力制御装置
WO2014008378A1 (fr) 2012-07-06 2014-01-09 Mtd Products Inc Pignon d'entraînement pour un véhicule utilitaire à chenilles
WO2015038913A1 (fr) 2013-09-13 2015-03-19 Mtd Products Inc Roue dentée d'entraînement pour un véhicule à chenille
US9884662B2 (en) 2013-09-13 2018-02-06 Mtd Products Inc Suspension and lock-out systems for a partially tracked vehicle
EP3303102B1 (fr) * 2015-05-29 2023-08-23 MTD products Inc Véhicule utilitaire
CN107600171B (zh) * 2017-08-08 2020-12-01 清华大学 轮边/轮毂驱动多轴车辆的转向方法
CN109017994A (zh) * 2018-06-29 2018-12-18 北京中云智车科技有限公司 一种无人车通用化线控底盘
CN112238896B (zh) * 2019-07-18 2021-10-22 上海燧方智能科技有限公司 车用转向方法、系统、行驶机构的转向方法及行驶机构
CN111267950A (zh) * 2020-03-16 2020-06-12 中联重机股份有限公司 机动车辆及其转向行走控制系统
GB202001243D0 (en) * 2020-01-29 2020-03-11 Mclaren Automotive Ltd Steering assistance
CN113954622A (zh) * 2021-09-29 2022-01-21 合肥工业大学 一种两档可旋转轮毂电机四驱小车

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JPS60206785A (ja) * 1984-03-29 1985-10-18 Toyoda Mach Works Ltd 動力舵取装置
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JPH0624940B2 (ja) * 1986-12-04 1994-04-06 三菱電機株式会社 電動式後輪操舵装置
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JPH0730456Y2 (ja) * 1989-05-11 1995-07-12 株式会社神戸製鋼所 ホイールクレーンのステアリング制御装置
JPH04236190A (ja) * 1991-01-11 1992-08-25 Toyota Motor Corp ブラシレスモータのための電気制御装置
IL97314A0 (en) * 1991-02-20 1992-05-25 Israel Aircraft Ind Ltd Power steering system for vehicle
US5161813A (en) * 1991-04-24 1992-11-10 Aisin Aw Co., Ltd. Vehicle steering apparatus and a vehicle provided with the same
JP3046108B2 (ja) * 1991-08-26 2000-05-29 富士重工業株式会社 差動制限装置付き車両の舵力制御方法
DE4134240C2 (de) * 1991-10-16 1995-12-14 Mannesmann Ag Lenkungsunterstützung bei einem nicht-spurgebundenen Fahrzeug
EP0616515A4 (fr) * 1991-12-05 1994-11-17 Pagett Ind Pty Limited J Vehicule a quatre roues motrices.

Also Published As

Publication number Publication date
BR9406446A (pt) 1996-02-13
AU6152094A (en) 1994-09-26
TR28435A (tr) 1996-06-19
KR960700926A (ko) 1996-02-24
CA2156841C (fr) 2004-05-25
JP3411922B2 (ja) 2003-06-03
KR100303588B1 (ko) 2001-11-22
ATE165057T1 (de) 1998-05-15
CN1118590A (zh) 1996-03-13
CN1065490C (zh) 2001-05-09
DE69409637T2 (de) 1998-11-26
TW253876B (fr) 1995-08-11
AU676275B2 (en) 1997-03-06
JPH08507481A (ja) 1996-08-13
US5323866A (en) 1994-06-28
EP0686111B1 (fr) 1998-04-15
WO1994020353A3 (fr) 1995-01-12
NZ262077A (en) 1997-09-22
DE69409637D1 (de) 1998-05-20
EP0686111A1 (fr) 1995-12-13
WO1994020353A2 (fr) 1994-09-15

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